# Milestones of the single design (D36, D38). status: done | active | next | blocked
- id: M0
  title: Research
  status: done
  done_when: Sourced research on reference robots, actuators, wheels, power, sensors, fabrication and the turret
  evidence: [research/wheel-legged-survey-2026-10-26.md, research/turret-launcher-study.md]
- id: M1
  title: "Leg v2: kinematics, CAD, test-rig physics"
  status: active
  done_when: The five-bar's geometry is chosen by a sweep; every part of one leg is in CAD (printed parts, bearings, pins, screws, the BotWheel, the stops); it clears itself from crouch to full height; the rig simulation stands, squats, jumps, lands and survives losing power
  evidence: [cad/fivebar.py, sim/leg_rig.py]
- id: M2
  title: "Leg v2: strength and hardware"
  status: next
  done_when: Every printed part has a safety factor for the rig's peak loads (landing, jump, power loss) and the sideways case, with overload animations; every bought part has a McMaster (or vendor) part number and real CAD; a print plan and a shopping list
- id: M3
  title: Single-leg test rig
  status: next
  done_when: The rig is in CAD (rail, carriage, dummy mass, bumpers), with its own parts list; the leg and rig are printed, bought and assembled; first stand, squat and jump on hardware. Bench tests that set the models' unknowns (D39) - an unpowered RS-04 back-driven (its power-off damping, torque against speed), the TPU stop sleeve squeezed (its stiffness and travel), an M5 heat-set insert in printed PA6-CF (torque against preload, pull-out), the BotWheel tyre's radial stiffness, and the RS-04's rotor inertia from a spin-down
- id: M4
  title: The foam-ball turret on its own
  status: next
  done_when: The turret is complete in CAD on a bench base, every part printable or bought with a part number, its strength checked, and it fires on the bench
- id: M5
  title: The body around two legs
  status: next
  done_when: A custom printed body holds the compute (Orin + carrier, no separate box), battery and electronics between the hip frames; lights on the hips beside the turret; the eyes on the face; nothing hangs off the front; the full robot balances in simulation
- id: M6
  title: RL policy and the game
  status: next
  done_when: A balance/drive policy on the full robot exported to ONNX; the game page shows the real robot with its voice and foam balls